A pool cleaning robot and a control method thereof

Abstract

The application provides a pool cleaning robot and a control method thereof, which comprises a main body, a position adjusting unit and a driving unit I; the position adjusting unit and the driving unit I are arranged on or connected with the main body; the position adjusting unit is arranged to make the pool cleaning robot go back and forth between the water surface and the liquid immersion surface; under the action of the position adjusting unit, when the pool cleaning robot floats to the water surface, the driving unit I is arranged to drive the pool cleaning robot to move on the water surface. The application has the beneficial effect that the weight of the position adjusting unit is adjusted by adjusting the change of the space volume of the gas and / or liquid in the cavity, so that the automatic floating and diving of the pool cleaning robot is realized, and when the machine needs to float out of the water surface or dive, manual searching of the machine and other operations are not needed, and the manual labor is reduced.

Description

Technical Field

[0001] This invention belongs to the field of underwater cleaning technology, and in particular relates to a pool cleaning robot and its control method. Background Technology

[0002] Swimming pools generate a lot of waste during use and need to be cleaned regularly. Existing pools usually use pool cleaning machines for cleaning. However, when the pool cleaning machine finishes working, when the filter box needs to be cleaned, when maintenance is needed, or when the machine's position needs to be changed, the pool cleaning machine stops working and stops at the bottom of the pool. It is necessary to manually find the pool cleaning machine and remove it from the pool, which takes a long time and has high labor costs. Summary of the Invention

[0003] In view of the above problems, the present invention provides a pool cleaning robot and its control method to solve the above or other problems existing in the prior art.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a pool cleaning robot, which includes a main body, a position adjustment unit and a drive unit I;

[0005] The position adjustment unit and drive unit I are located on the main body or connected to the main body;

[0006] The position adjustment unit is configured to enable the pool cleaning robot to move back and forth between the water surface and the liquid-submerged surface.

[0007] Under the action of the position adjustment unit, when the pool cleaning robot floats to the surface of the water, the drive unit I is set to drive the pool cleaning robot to move on the water surface.

[0008] Furthermore, the position adjustment unit includes a drive unit II, which includes a one-way water inlet system and a one-way drainage system. When the one-way water inlet system is activated, liquid enters the interior of the position adjustment unit, increasing the weight of the pool cleaning robot; when the one-way drainage system is activated, liquid is discharged from the interior of the position adjustment unit, reducing the weight of the pool cleaning robot.

[0009] Furthermore, the one-way water inlet system and the one-way drainage system are independently selected from any of the following:

[0010] (1) Pump and check valve installed on the pump's inlet / outlet pipe;

[0011] (2) One-way pump.

[0012] Furthermore, the drive unit I includes a power unit and a drive unit; the power unit provides power to the drive unit, and the drive unit generates a driving force on the pool cleaning robot, causing the pool cleaning robot to move on the water surface.

[0013] Furthermore, the power unit includes a motor, a connecting part, and a water-dispensing part; the motor transmits power to the water-dispensing part through the connecting part.

[0014] Furthermore, the connecting part includes a motor shaft.

[0015] Furthermore, the connecting part includes a drive wheel that meshes with the drive part.

[0016] Furthermore, the water-dispelling component can be a paddle wheel, propeller, or similar device mounted on the main body.

[0017] Furthermore, the water-dispelling unit includes a roller brush and / or a track; under the action of the power unit, the roller brush and / or track move on the water surface, and the protrusions on the roller brush and / or track move on the water surface or in the water to generate a thrust on the pool cleaning robot.

[0018] Furthermore, the roller brush is equipped with a roller brush wheel that meshes directly or indirectly with the drive wheel;

[0019] Driven by the walking wheels of the pool cleaning robot, the tracks move on the water surface, generating a thrust on the pool cleaning robot. The walking wheels and the drive wheels mesh directly or indirectly.

[0020] Furthermore, the power unit includes a motor and an impeller connected to the motor, and the drive unit includes a drain outlet; the motor drives the impeller to move, and water flows out through the drain outlet.

[0021] Furthermore, the horizontal component of the drainage direction of the drain outlet generates a thrust on the pool cleaning robot, causing the pool cleaning robot to move on the water surface; where the horizontal direction is the direction within the plane containing the water surface.

[0022] Furthermore, the drive unit I includes a motor, impeller, and drain outlet in the pump suction system of the pool cleaning robot when cleaning the bottom of the pool.

[0023] Furthermore, when the pool cleaning robot cleans the bottom or walls of the pool, the water to be cleaned enters through the water inlet of the pool cleaning robot under the action of the motor and impeller, and after being filtered, it is discharged from the drain outlet; that is, cleaning is achieved through the pump suction system composed of the motor, impeller and drain outlet.

[0024] Furthermore, the main body includes a housing I and a control unit connected to the housing I;

[0025] The position adjustment unit is connected to housing I and electrically connected to the control unit;

[0026] Drive unit I is electrically connected to the control unit.

[0027] Furthermore, the housing I includes an upper housing part and a lower housing part. The lower housing part is provided with a water inlet, and the side opposite to the lower housing part is the upper housing part. When the pool cleaning robot floats on the water surface, at least a part of the upper housing part is exposed above the water surface. The water inlet is the water inlet of the pool cleaning robot.

[0028] Furthermore, the direction of travel of the pool cleaning robot is at the front end of the shell I, and the position adjustment unit is located at the non-front end of the shell I.

[0029] Furthermore, the direction of travel of the pool cleaning robot is at the front end of the shell I, and the position adjustment unit is located in the middle or rear end of the shell I.

[0030] Furthermore, the front end of housing I includes the end that first approaches the water surface when the pool cleaning robot climbs the wall to clean.

[0031] Furthermore, the movement of the pool cleaning robot between the water surface and the liquid-submerged surface includes the pool cleaning robot surfacing from the liquid-submerged surface to the water surface and / or the pool cleaning robot submerging from the water surface to the liquid-submerged surface.

[0032] Furthermore, the pool cleaning robot buoyancy from the submerged surface to the surface includes the pool cleaning robot buoyancy from the submerged surface to the surface and remaining afloat on the surface.

[0033] Furthermore, the position adjustment unit includes an adjustment unit and a drive unit II. The adjustment unit includes at least one cavity, which includes a housing II and a cavity formed by the housing II surrounding it.

[0034] Under the action of drive unit II, the volume of space occupied by gas and / or liquid in the cavity changes, enabling the pool cleaning robot to move back and forth between the water surface and the liquid-submerged surface;

[0035] Under the action of drive unit II, the cavity volume remains unchanged.

[0036] Furthermore, under the action of drive unit II, when the gas volume in the cavity increases or the liquid volume decreases, the gas pressure in the cavity changes.

[0037] Furthermore, under the action of the drive unit, the volume of space occupied by gas and / or liquid in the cavity changes, including:

[0038] Under the action of the drive unit, liquid is injected into the cavity, the volume occupied by gas decreases, the weight of the position adjustment unit increases, and the pool cleaning robot dives to the liquid-submerged surface.

[0039] And / or, the liquid is discharged from the cavity, the volume occupied by the gas increases, the weight of the position adjustment unit decreases, and the pool cleaning robot floats to the surface of the water.

[0040] Furthermore, the control unit controls the start and stop of drive unit II.

[0041] Furthermore, the drive unit II includes at least one drive component and at least two transmission units;

[0042] At least one of the transmission sections is connected to the drive assembly and the cavity;

[0043] At least one transmission unit connects the drive component to the outside.

[0044] Furthermore, the external part includes the location of the external liquid, and the transmission part includes a channel.

[0045] Furthermore, the drive unit II is housed within a sealed chamber, and the sealed chamber and the adjustment unit are sealed together via a sealing element; or

[0046] The drive unit is housed inside a sealed box and connected to the cavity of the regulating unit via a pipe. The pipe connection is equipped with a sealing structure.

[0047] Furthermore, the seal includes a sealing plate.

[0048] Furthermore, the sealing chamber and the sealing element constitute a receiving space, and both the sealing chamber and the sealing element are provided with water passage holes so that the receiving space can communicate with the cavity and the outside respectively.

[0049] Drive unit II is located within the accommodating space. Drive unit II is connected to the water passage hole on the sealed chamber and the water passage hole on the seal, so that external liquid can enter the cavity under the action of drive unit II or water in the cavity can be discharged under the action of drive unit II.

[0050] Furthermore, a sealing structure is provided at the connection between the sealing chamber and the sealing element;

[0051] A sealing structure is provided at the connection between the drive unit II and the water passage hole;

[0052] A sealing structure is provided at the connection between the adjustment unit and the sealing element.

[0053] Furthermore, the cavity is provided with a one-way valve or opening for draining and / or venting, which limits the amount of liquid added to the cavity during position adjustment.

[0054] Furthermore, the one-way valve or opening is positioned below the upper surface of the cavity. When the valve is submerged in liquid, the continuously injected liquid will be discharged from the one-way valve or opening, while gas is sealed between the liquid surface and the upper surface of the cavity.

[0055] When liquid is injected, the side corresponding to the direction of liquid level rise is the upper surface of the cavity.

[0056] Furthermore, housing II is equipped with a safety valve.

[0057] Furthermore, the cavity is provided with a one-way valve or opening for draining and / or venting liquid to limit the amount of liquid added to the cavity during position adjustment. The one-way valve or opening is connected to the installation space of the safety valve so that the safety valve can release pressure.

[0058] The safety valve is located above the check valve or the opening.

[0059] Furthermore, the housing II extends into the cavity and is provided with a receiving groove, which is connected to the cavity. A safety valve cap is connected to the receiving groove, and the safety valve is located in the space formed by the receiving groove and the safety valve cap.

[0060] Furthermore, the cavity is equipped with a partition plate, dividing the cavity into at least two interconnected cavities.

[0061] Furthermore, a partition plate is provided inside the cavity, dividing the cavity into two connected chambers;

[0062] When the volume of the cavity occupied by the gas decreases to the required value, the gas-liquid interface is near the partition plate.

[0063] Furthermore, the partition plate is fixedly and detachably connected to the shell of the cavity.

[0064] Furthermore, the partition plate is provided with through holes, through which the separated cavities are connected.

[0065] Furthermore, at least one side of the partition plate is provided with a partition portion, which divides the cavity on the corresponding side into at least two communicating chambers, and the chambers contain the same medium.

[0066] Furthermore, the partition is located on the side closest to the gas medium.

[0067] Furthermore, at least one side of the partition plate extending towards the cavity is provided with multiple grilles.

[0068] Furthermore, the cavity is provided with a one-way valve or opening for draining and / or venting, which limits the amount of liquid added during buoyancy adjustment.

[0069] Furthermore, the partition plate is provided with mounting holes for installation in conjunction with one-way valves or openings provided in the cavity.

[0070] Furthermore, the pool cleaning robot also includes a signal transmission unit;

[0071] The signal transmission unit is located on the main body or connected to the main body;

[0072] When the pool cleaning robot floats to the surface of the water under the action of the position adjustment unit, the signal transmission unit is set to interact with the control console.

[0073] Furthermore, when the pool cleaning robot floats to the surface, the signal transmission unit is located near the water surface.

[0074] Furthermore, when the pool cleaning robot floats to the surface, the signal transmission unit is located above or below the water surface.

[0075] Furthermore, the signal transmission unit interacts with the console via at least one of wireless signal interaction, audio signal interaction, and optical signal interaction.

[0076] Furthermore, the signal transmission unit includes at least one of a wireless transceiver, an audio transceiver, and an optical transceiver.

[0077] Furthermore, the control console includes at least one of a mobile app, a remote control, and a relay station.

[0078] A method for controlling a pool cleaning robot, comprising controlling the robot to float to the surface of a liquid or to submerge to the surface of a liquid, including:

[0079] Obtain data or instructions from the pool cleaning robot to determine whether the pool cleaning robot needs to surface or submerge.

[0080] Control the pool cleaning robot to float up or dive down; and / or

[0081] After surfacing, control the pool cleaning robot to move on the water surface.

[0082] Furthermore, surfacing or diving includes pool cleaning robots moving back and forth between liquid-submerged surfaces and the water surface.

[0083] Furthermore, acquiring data or instructions from the pool cleaning robot to determine whether it needs to surface or submerge includes:

[0084] Acquire the status data of the pool cleaning robot; the status data is used to represent the status of the pool cleaning robot.

[0085] If the status data meets the preset conditions, determine whether the pool cleaning robot needs to surface or submerge; or

[0086] The robot was instructed to either surface or submerge.

[0087] Furthermore, acquiring the status data of the pool cleaning robot includes at least one of the following:

[0088] During the process of the pool cleaning robot moving or stationary, at least one of the power parameters of the pool cleaning robot is acquired;

[0089] During the process of the pool cleaning robot moving or stationary, at least one of the operating parameters of the pool cleaning robot is acquired;

[0090] During the process of the pool cleaning robot moving or remaining stationary, at least one of the time parameters of the pool cleaning robot is acquired;

[0091] During the process of the pool cleaning robot moving or stationary, at least one of the cleaning parameters of the pool cleaning robot is acquired;

[0092] During the process of the pool cleaning robot moving or stationary, at least one of the warning parameters of the pool cleaning robot is obtained.

[0093] Furthermore, if the status data meets preset conditions, determining whether the pool cleaning robot needs to surface or submerge includes any of the following:

[0094] If the battery parameters of the pool cleaning robot exceed the threshold range, it is determined whether the pool cleaning robot needs to float up or submerge.

[0095] If the operating parameters of the pool cleaning robot exceed the threshold range, it is determined whether the pool cleaning robot needs to float or submerge.

[0096] If the time parameters of the pool cleaning robot exceed the time parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down.

[0097] If the cleaning parameters of the pool cleaning robot exceed the threshold range, it is determined whether the pool cleaning robot needs to float up or submerge.

[0098] If the warning parameters of the pool cleaning robot exceed the warning parameter threshold range, it is determined that the pool cleaning robot needs to float up or submerge.

[0099] Furthermore, the cleaning parameters include at least one of the following: number of cleaning cycles, cleaning area, and cleaning time.

[0100] Furthermore, controlling the pool cleaning robot to float or submerge includes:

[0101] Control the weight of the pool cleaning robot to reduce or increase its weight.

[0102] Furthermore, controlling the weight of the pool cleaning robot includes controlling the weight of the position adjustment unit of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. Under the action of the position adjustment unit, the pool cleaning robot floats from the liquid immersion surface to the water surface or dives from the water surface to the liquid immersion surface.

[0103] Furthermore, controlling the movement of the pool cleaning robot on the water surface after it floats up includes: the control unit issuing a command, the drive unit I acting, and driving the pool cleaning robot to move on the water surface.

[0104] As the above technical solution is adopted, the position adjustment unit has an adjustment unit with at least one cavity. Through the action of the drive unit II, the volume change of the gas in the cavity is adjusted, thereby adjusting the buoyancy of the position adjustment unit to achieve automatic buoyancy and descent.

[0105] The regulating unit has a water storage tank with at least one cavity for storing water. A safety valve is installed on the water storage tank to control the pressure inside the tank, preventing excessive pressure from causing deformation or damage to the tank, and ensuring that water can enter the tank.

[0106] The water storage tank is equipped with a partition plate that divides the internal space of the water storage tank into two parts: one for storing liquid and the other for storing air. The partition plate has through holes to allow the two spaces to communicate. The partition plate is installed near the liquid surface and is equipped with a grid and partitions to reduce liquid surface fluctuations and improve the stability of the position adjustment unit. The cavity shell (outlet tank shell) extends into the cavity and is equipped with a first drain outlet, which is connected to the pressure relief channel. The height of the first drain outlet is set to ensure the liquid level in the water storage tank and the total amount of liquid entering the water storage tank, thereby ensuring the buoyancy value provided by the position adjustment unit (it can also be used in conjunction with a safety valve; after the pressure is controlled by the safety valve, when the set pressure is reached, the safety valve opens, and excess liquid will be discharged from the first drain outlet and discharged through the safety valve).

[0107] Drive unit II has multiple drive structures, as well as a sealed chamber and a sealing plate. The sealed chamber and the sealing plate form a sealed receiving space. Multiple drive structures are set in the sealed receiving space. The sealed chamber and the sealing plate protect the drive structures and prevent them from being damaged by contact with water.

[0108] Featuring multiple drive structures that operate alternately, this device can draw water from the outside into the water storage tank and discharge water from the tank to the outside. The drive structure includes drive components and water inlet and outlet pipes (the inlet / outlet can also be directly connected to the cavity). These pipes connect to water passages on the sealed chamber and the sealing plate, respectively. The drive components actuate, causing external water to flow along the inlet and outlet pipes into the water storage tank, or causing water in the tank to flow along the same pipes and discharge to the outside. Adjusting the weight of the position adjustment unit regulates the weight of the water tank cleaning robot. Based on the relationship between the robot's weight and buoyancy, the robot automatically rises and falls. When cleaning or maintenance is needed, the robot surfaces, eliminating the need for manual searching or removal from the water, thus reducing labor costs, increasing efficiency, and enhancing automation. Meanwhile, the technical solution in this application enables the pool cleaning robot to walk on the water surface after it floats to the surface, thus fulfilling various user needs, such as enabling information interaction with the control console through a signal transmission unit to control the pool cleaning robot to perform the required actions. Attached Figure Description

[0109] Figure 1 This is a schematic diagram of the structure of a position adjustment unit according to an embodiment of the present invention;

[0110] Figure 2 This is a schematic diagram of the structure of a water storage tank assembly according to an embodiment of the present invention;

[0111] Figure 3 This is a schematic diagram of the structure of a driving component according to an embodiment of the present invention;

[0112] Figure 4 This is a schematic diagram of the position adjustment unit at one angle according to an embodiment of the present invention;

[0113] Figure 5 This is a schematic diagram of the position adjustment unit from another angle according to an embodiment of the present invention;

[0114] Figure 6 This is a schematic diagram of the structure of a partition plate at one angle according to an embodiment of the present invention;

[0115] Figure 7 This is a schematic diagram of the partition plate from another angle according to an embodiment of the present invention;

[0116] Figure 8 This is a cross-sectional structural diagram of a position adjustment unit according to an embodiment of the present invention.

[0117] Figure 9This is a schematic diagram of a position adjustment unit installed on a water tank cleaning robot according to an embodiment of the present invention.

[0118] In the picture:

[0119] 1. Adjustment unit; 2. Drive unit II; 10. Safety valve

[0120] 11. Water storage tank; 20. Sealing plate; 21. Sealing chamber

[0121] 22. Water passage hole; 23. Drive structure; 230. Drive assembly

[0122] 231. Water supply pipe; 12. Safety valve cap; 13. Divider plate

[0123] 130, through hole; 131, grille; 132, first drain outlet.

[0124] 3. Position adjustment unit 110; Drainage channel 4; Drainage outlet

[0125] 5. Roller brush 6. Track Detailed Implementation

[0126] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0127] Figure 1 A schematic diagram of an embodiment of the present invention is shown. This embodiment relates to a pool cleaning robot and its control method. The pool cleaning robot has a position adjustment unit, which can store water to increase the weight of the pool cleaning robot, enabling it to submerge. It can also discharge water to reduce the weight of the pool cleaning robot, enabling it to float. This allows the pool cleaning robot to automatically float and submerge. When the machine needs to float to the surface, it can automatically float without the need for manual searching or lifting of the machine out of the water, thus reducing manual labor.

[0128] A pool cleaning robot includes a main body, a position adjustment unit 3, and a drive unit I. The position adjustment unit 3 and the drive unit I are disposed on or connected to the main body. The position adjustment unit 3 is configured to enable the pool cleaning robot to move back and forth between the water surface and the liquid immersion surface. The position adjustment unit 3 can adjust the gravity of the pool cleaning robot, thereby controlling the relationship between the gravity and buoyancy of the pool cleaning robot, and thus controlling the pool cleaning robot to move back and forth between the water surface and the liquid immersion surface. When the pool cleaning robot floats to the water surface under the action of the position adjustment unit 3, the drive unit I is configured to drive the pool cleaning robot to move on the water surface.

[0129] The aforementioned drive unit I includes a power unit and a drive unit. The power unit provides power to the drive unit, and the drive unit generates a driving force on the pool cleaning robot, enabling the pool cleaning robot to move on the water surface.

[0130] The aforementioned power unit includes a motor, a connecting part, and a water-spraying part. The motor transmits power to the water-spraying part through the connecting part. The motor is connected to the connecting part and drives the connecting part to move. The connecting part is connected to the drive unit and transmits the motor's power to the drive unit. The drive unit generates a thrust on the water cleaning robot, causing the water cleaning robot to move on the water surface.

[0131] The aforementioned connecting part includes a drive wheel that meshes with the drive unit. The drive wheel is mounted on the output shaft of the motor. When the motor rotates, it drives the drive wheel to rotate, and through meshing transmission, it drives the drive unit to move.

[0132] The pool cleaning robot includes wheels that rotate, enabling the robot to move. The aforementioned water-dissipating unit includes a roller brush 5 and / or a track 6. Under the action of a power unit, the roller brush 5 and / or the track 6 move on the water surface or in the water. The protrusions on the roller brush 5 and / or the track 6 move on the water surface or in the water, generating a thrust on the pool cleaning robot. The roller brush 5 is equipped with roller brush wheels that are directly or indirectly connected to the drive wheels. The roller brush wheels are located at both ends of the roller brush 5. The roller brush wheels can be directly meshed with the drive wheels for transmission, causing the drive wheels to rotate, thus rotating the roller brush 5. Alternatively, the roller brush wheels can also be meshed with the drive wheels through multiple gear transmission structures. Multiple gear transmission structures transmit power, enabling the drive wheel to drive the roller brush 5 to rotate; the track 6 is mounted on the walking wheel, and driven by the walking wheel of the pool cleaning robot, the track 6 moves on the water surface, generating a thrust on the pool cleaning robot, propelling the pool cleaning robot to walk on the water surface; the walking wheel and the drive wheel are directly or indirectly meshed. The walking wheel and the drive wheel can be directly meshed and connected to drive the walking wheel to move, or the walking wheel and the drive wheel can be connected through multiple gear transmission structures to transmit power and realize the movement of the walking wheel.

[0133] The aforementioned power unit includes a motor and an impeller. The motor is connected to the impeller, and the motor drives the impeller to rotate. When the water tank cleaning robot is working, it sucks up the wastewater generated by the scrubbing.

[0134] The drive unit includes a drain outlet 4, which is located on the shell of the pool cleaning robot and is formed by an opening in the shell. The drain outlet 4 corresponds to the impeller. Water drawn in by the rotation of the impeller is filtered and discharged from the drain outlet 4. The drain outlet 4 is inclined and tilted towards the rear end of the shell of the pool cleaning robot. The horizontal component of the drainage direction of the drain outlet 4 generates a thrust on the pool cleaning robot, causing the pool cleaning robot to move on the water surface. The horizontal direction is the direction in the plane where the water surface is located.

[0135] The aforementioned main body includes a housing I and a control unit connected to the housing I. The control unit is installed inside the housing I. The position adjustment unit 3 is connected to the housing I. The position adjustment unit 3 can be located inside the housing I or outside the housing I. The position adjustment unit 3 is electrically connected to the control unit, and the control unit controls the position adjustment unit 3 to move. The drive unit I is electrically connected to the control unit, and the control unit controls the drive unit I to move.

[0136] The aforementioned housing I includes an upper housing and a lower housing. The lower housing is provided with a water inlet. When the impeller rotates to perform suction, water enters from the water inlet. The side opposite to the lower housing is the upper housing. When the pool cleaning robot floats on the water surface, at least a part of the upper housing is exposed above the water surface.

[0137] In some feasible embodiments, the inlet is the water inlet of a pool cleaning robot;

[0138] The direction of travel of the pool cleaning robot is the front end of the shell I. The position adjustment unit 3 is located in the middle or rear end of the shell I. The position adjustment unit 3 can be located in the middle position of the shell I, or the position adjustment unit 3 can be located in the rear end of the shell I, or the position adjustment unit 3 can be located at any position between the middle and the rear end of the shell I, or the position adjustment unit 3 can be located at any position between the front end and the middle of the shell I. The front end of the shell I includes the end that first approaches the water surface when the pool cleaning robot climbs the wall to clean.

[0139] The movement of a pool cleaning robot between the water surface and a submerged surface includes the pool cleaning robot surfacing from the submerged surface to the water surface and / or the pool cleaning robot submerging from the water surface to the submerged surface. The surfacing of a pool cleaning robot from the submerged surface to the water surface includes the pool cleaning robot surfacing from the submerged surface to the water surface and remaining afloat on the water surface.

[0140] like Figure 1-9 As shown, the position adjustment unit 3 mentioned above includes an adjustment unit 1 and a drive unit II 2;

[0141] The adjustment unit 1 includes at least one cavity for injecting or discharging liquid. Under the action of the drive unit II2, liquid enters the cavity or liquid in the cavity is discharged, compressing or releasing the air in the cavity. The volume of space occupied by the gas in the cavity changes, thereby causing the gravity of the position adjustment unit 3 to change, thus adjusting the relationship between gravity and buoyancy of the pool cleaning robot. The control unit controls the start and stop of the drive unit II.

[0142] A partition plate 13 is provided inside the cavity, and the partition plate 13 has multiple through holes 130. The cavity is divided into at least two interconnected chambers, allowing liquid or air located in one chamber to enter the other chamber, thus separating the liquid space from the air space. The positions of the multiple through holes 130 can be selected according to actual needs, and they can be symmetrically or asymmetrically arranged on the partition plate 13. As liquid is added, when the liquid level approaches the vicinity of the first drain outlet 132, the partition plate 13 comes into contact with the liquid entering the chamber, reducing the sloshing of the liquid in the chamber during the operation of the pool cleaning robot, ensuring the overall stability of the pool cleaning robot and the stability of its running trajectory, and preventing the running trajectory from deviating.

[0143] When the drive unit II is working, the cavity volume remains unchanged. The cavity is a cavity with a fixed volume. By injecting liquid, the volume occupied by air in the cavity changes.

[0144] In some feasible embodiments, the partition plate 13 corresponds to the position of the liquid level when the liquid volume in the cavity is at its maximum, thereby controlling the volume of the cavity storing liquid. After the liquid enters the cavity, the air in the cavity is compressed and enters the gas cavity through the through hole 130 on the partition plate 13, thus separating the air from the liquid.

[0145] In some feasible embodiments, the partition plate is fixedly and detachably mounted within the cavity (e.g., through a fixedly and detachably connected connection to the cavity housing). Figure 6-8 As shown, at least one side of the partition plate 13 is provided with a grille 131. The grille 131 is provided on the liquid-facing side of the partition plate 13 and protrudes from this side. The grille 131 can reduce liquid surface fluctuations and improve the stability of the position adjustment unit 3. Alternatively, grilles 131 can be provided on both sides of the partition plate 13. The location of the grilles 131 can be selected according to actual needs, and no specific requirements are specified here.

[0146] There are multiple grilles 131, which are arranged sequentially along the length and width of the partition plate 13 and are placed on any side of the partition plate 13.

[0147] In some feasible embodiments, the grille 131 is a plate-like structure with a certain length. The shape of the grille 131 is preferably arc-shaped. Multiple grilles 131 are concentrically arranged on one side of the partition plate 13, at the middle position of the partition plate 13. Multiple layers of grilles 131 are arranged radially. Along the length and width directions of the partition plate 13, multiple grilles 131 are sequentially arranged on both sides of the middle position of the partition plate 13. They can be evenly spaced or non-evenly spaced, depending on actual needs; no specific requirements are specified here. Preferably, along the width direction, multiple grilles 131 are located on the same arc.

[0148] On the other side of the partition plate 13, the partition plate 13 is set as an installation area for multiple grilles 131. In each installation area, multiple grilles 131 are arranged concentrically and multiple layers of grilles 131 are arranged along the radial direction. Through holes 130 can be set between adjacent grilles 131.

[0149] A partition, which is a support plate, is provided between two adjacent installation areas. The support plate protrudes from the side of the partition plate 13, and its height is less than the distance between the side of the partition plate 13 and the side wall of the cavity, so that the free end of the support plate does not contact the side wall of the cavity, allowing air to circulate freely within the space corresponding to each installation area. The partition plate is provided with mounting holes for installation with the first drain outlet 132.

[0150] In some feasible embodiments, the change in the volume of space occupied by gas in the cavity under the action of the drive unit II includes: injecting liquid into the cavity or discharging liquid from the cavity under the action of the drive unit II.

[0151] The position adjustment unit includes a drive unit II, which includes a one-way water inlet system and a one-way drainage system. When the one-way water inlet system is activated, liquid enters the position adjustment unit, increasing the weight of the pool cleaning robot. When the one-way drainage system is activated, liquid is discharged from the position adjustment unit, reducing the weight of the pool cleaning robot.

[0152] In some feasible embodiments, both the one-way inlet system and the one-way outlet system include a pump and a one-way valve located on the pump's inlet pipe; or, both the one-way inlet system and the one-way outlet system include a one-way pump capable of maintaining pressure.

[0153] Specifically, both the aforementioned one-way water inlet system and one-way drainage system include at least one drive component 230 and at least two transmission sections. One drive component 230 and two transmission sections can construct a drive structure 23. That is, both the one-way water inlet system and the one-way drainage system have at least one drive structure 23. The drive component 230 provides power for the flow of liquid, and the transmission sections guide the flow of liquid. At least one transmission section connects the drive component 230 and the cavity, establishing a communication channel between the drive component 230 and the cavity. At least one transmission section connects the drive component 230 and the outside, establishing a communication channel between the drive component 230 and the outside, so that the liquid from the outside flows along the transmission section, the drive component 230, and the transmission section, entering the cavity or exiting from the cavity.

[0154] In some feasible implementations, preferably, the external location includes the location of the external liquid;

[0155] In some feasible implementations, preferably, the transmission section includes a channel or conveying pipe.

[0156] In some feasible implementations, both the one-way water inlet system and the one-way drainage system include a drive assembly 230 and two transmission units, namely transmission unit I and transmission unit II.

[0157] The transmission section I connects the drive assembly 230 and the cavity, and the transmission section II connects the drive assembly 230 and the outside. Under the action of the drive assembly 230, the liquid enters the cavity from the outside through the transmission section I and the transmission section II. Under the action of the drive assembly 230, the liquid is discharged from the cavity to the outside through the transmission section II and the transmission section I.

[0158] The drive assembly 230 can be a one-way pump, or the drive assembly 230 can be a pump with a one-way valve provided on the transmission section I or the transmission section II.

[0159] In some feasible implementations, the drive unit II includes two drive components 230, which correspond to the one-way drainage system and the one-way water inlet system, respectively. The two drive components 230 are drive component I and drive component II. Each drive component 230 is connected to two transmission parts. The transmission parts aI and bI connected to drive component I (forming a one-way water inlet system) are connected to drive component II, and the transmission parts aII and bII connected to drive component II (forming a one-way drainage system).

[0160] When there are two drive components 230, the two drive components 230 operate alternately. One set of drive components 230 is used to transport external liquid (water) into the cavity, and the other set of drive components 230 is used to transport liquid (water) inside the cavity to the outside.

[0161] Among them, the transmission section aI connects the drive component I and the cavity, and the transmission section bI connects the drive component I and the outside. Under the action of the drive component I, the liquid enters the cavity from the outside through the transmission section bI and the transmission section aI (one-way water inlet system).

[0162] Transmission section aII connects drive assembly II and the cavity, and transmission section bII connects drive assembly II and the outside. Under the action of drive assembly II, liquid is discharged from the cavity to the outside through transmission sections aII and bII (one-way drainage system).

[0163] The drive unit II is located inside the sealed chamber 21, which protects the drive unit II from contact with liquid and damage. The sealed chamber 21 is connected to the adjustment unit 1 through a seal, and the sealed chamber 21 and the adjustment unit 1 are located on opposite sides of the seal.

[0164] In some feasible embodiments, the drive unit II2 is placed in a sealed box, which is connected to the cavity of the adjustment unit 1 via a pipe. The connection between the pipe and the sealed box / cavity is sealed.

[0165] In some feasible embodiments, preferably, the seal includes a sealing plate 20.

[0166] In some feasible embodiments, the sealing connection between the seal and other components can be a surface seal or a line seal.

[0167] After the liquid enters the cavity, it is located in the space between the seal and the partition plate 13. When the water tank cleaning robot is not stationary, the liquid level in the cavity will fluctuate. The sealing chamber 21 and the seal are connected to form a receiving space. Both the sealing chamber 21 and the seal are provided with water passage holes 22 so that the receiving space can communicate with the cavity and the outside, so that the transmission unit can communicate with the cavity and the outside, and also facilitate the installation of the transmission unit. The drive unit II is located in the receiving space. The drive unit II is connected to the water passage holes 22 on the sealing chamber 21 and the seal, so that the external liquid can enter the cavity under the action of the drive unit II2 or the water in the cavity can be discharged under the action of the drive unit II. The drive assembly 230 is installed in the receiving space. One end of one transmission unit is connected to the drive assembly 230 and the other end is connected to the water passage hole 22 on the seal. One end of another transmission unit is connected to the drive assembly 230 and the other end is connected to the water passage hole 22 on the sealing chamber 21.

[0168] A sealing structure is provided at the connection between the sealing chamber 21 and the sealing element, so that the sealing chamber 21 and the sealing element form a sealed space to protect the drive unit II; a sealing structure is provided at the connection between the drive unit II and the water passage 22, that is, a sealing structure is provided at the connection between the transmission part and the water passage 22 on the sealing element and at the connection between the transmission part and the water passage 22 on the sealing chamber 21 to prevent liquid leakage.

[0169] The cavity is equipped with a one-way valve or opening for draining and / or venting liquid, which limits the amount of liquid added to the cavity during position adjustment. The one-way valve or opening is positioned below the upper surface of the cavity. When the valve (one-way valve or opening) is submerged in liquid, the continuously injected liquid will be discharged from the one-way valve or opening, while gas is sealed between the liquid surface and the upper surface of the cavity. When liquid is injected, the side corresponding to the direction of liquid level rise is the upper surface of the cavity.

[0170] The cavity housing of the aforementioned regulating unit 1 is equipped with a safety valve 10 to regulate the pressure inside the cavity and to release pressure when the pressure inside the cavity is too high. A one-way valve or opening is connected to the installation space of the safety valve so that the safety valve can release pressure; the safety valve is located above the one-way valve or opening.

[0171] The aforementioned hollow shell (extending into the cavity) is provided with a first drain port 132 (pressure relief port), which is connected to the installation space of the safety valve to allow the safety valve to relieve pressure. A drain channel 110 (pressure relief channel) is provided on the inner wall of the cavity, extending from the inner wall into the cavity. The drain channel 110 has a certain length, which is selected according to actual needs. The free end of the drain channel 110 corresponds to the first drain port 132. The drain channel 110 extends inward from the cavity shell and inserts into the first drain port 132, so that the drain channel 110 connects with the cavity interior. The port connected to the cavity is the first drain outlet 132. The position of the first drain outlet 132 ensures the liquid level in the cavity and the total amount of liquid entering the cavity, thus ensuring a fixed amount of liquid entering the cavity. This guarantees that the position adjustment unit 3 provides the corresponding gravity value. Simultaneously, the drainage channel 110 defines the installation position of the partition plate 13 within the cavity. The partition plate 13 has mounting holes and is installed around the drainage channel 110 in conjunction with the first drain outlet 132 (in some feasible embodiments, the mounting holes are installed in conjunction with the first drain outlet 132). The installation position of the partition plate 13 is determined during installation. In some feasible embodiments, the partition plate 13 is detachably connected to the cavity shell.

[0172] On the outer wall of the cavity (the outer wall of the concave side of the shell), corresponding to the drain channel 110, a receiving groove is provided. The receiving groove is connected to the drain channel 110, and the side wall of the receiving groove is the surface of the outer wall. The safety valve is installed in the receiving groove, and one end of the safety valve extends into the drain channel 110. The safety valve is fixed to the cavity or cavity shell (such as the receiving groove) by a safety valve cap 12; the safety valve cap and the safety valve are sealed together, and the safety valve is sealed together with the cavity shell (such as the receiving groove). The safety valve is placed between the safety valve cap and the cavity shell (water storage tank), and is fixedly installed by a detachable fixed connection between the safety valve cap and the water storage tank, preferably by screws. The safety valve cap and the safety valve are sealed together, and the safety valve is sealed together with the water storage tank. The safety valve cap 12 blocks the safety valve, installing the safety valve in the receiving groove so that the safety valve will not fall out of the receiving groove. The safety valve cap 12 is detachably connected to the receiving tank. This connection can be via screws, plug-in connections, or other detachable methods, depending on the specific requirements. During buoyancy adjustment, such as when the pool cleaning robot is submerged, liquid is injected into the cavity. This reduces the volume occupied by gas within the cavity and increases the pressure inside. When the liquid level rises to or above the height of the first drain port 132, and the internal gas pressure exceeds the safety valve's opening pressure, the safety valve opens, and liquid is discharged through the first drain port 132, stopping the injection of liquid. When the gas pressure inside the cavity is not greater than the safety valve's opening pressure, the safety valve closes, and during liquid discharge, the liquid volume decreases, the gas volume increases, and the gas pressure inside the cavity continues to decrease until liquid discharge stops. Throughout the entire discharge process, the safety valve remains closed.

[0173] The aforementioned adjustment unit 1 includes a water storage tank 11 (cavity) for storing liquids and gases; the drive unit II is connected to the water storage tank 11 and is configured such that: under the action of the drive unit II, liquid is transported into the water storage tank 11, increasing the weight of the pool cleaning robot; as liquid continues to be transported into the water storage tank 11, when the weight of the pool cleaning robot is greater than the buoyancy, the device submerges; under the action of the drive unit II2, liquid in the water storage tank 11 is discharged, decreasing the weight of the pool cleaning robot; as liquid continues to be discharged from the water storage tank 11, when the weight of the pool cleaning robot is less than the buoyancy, the device floats.

[0174] The partition plate 13 is fixedly installed inside the water storage tank 11, dividing the space inside the water storage tank 11 into two spaces. The shape of the partition plate 13 is adapted to the internal cross-sectional shape of the water storage tank 11 so that the partition plate 13 can be installed inside the water storage tank 11. The partition plate 13 is fixedly connected to the water storage tank 11, which can be done by bolts or other connectors, integral molding, riveting, or other fixed connection methods, depending on actual needs. No specific requirements are specified here.

[0175] The liquid mentioned above can be water.

[0176] The pool cleaning robot also includes a signal transmission unit for transmitting signals. The signal transmission unit is located on the main body or connected to the main body. When the pool cleaning robot floats to the surface of the water under the action of the position adjustment unit 3, the signal transmission unit is set to interact with the control console. The control unit receives the signal transmitted by the signal transmission unit and controls the drive unit I and drive unit II to move according to the received signal.

[0177] When the pool cleaning robot floats to the surface, the signal transmission unit is located near the water surface. In some feasible embodiments, when the pool cleaning robot floats to the surface, the signal transmission unit is located above or below the water surface.

[0178] The signal transmission unit interacts with the control console via at least one of wireless signal interaction, audio signal interaction, and optical signal interaction, and the control console transmits signals to the signal transmission unit.

[0179] The signal transmission unit includes at least one of the following: wireless signal transceiver, audio signal transceiver, and optical signal transceiver. The selection is based on actual needs and no specific requirements are specified here.

[0180] The aforementioned control console includes at least one of a mobile app, a remote control, or a relay station. The choice should be made based on actual needs, and no specific requirements are specified here.

[0181] The following is a specific embodiment for illustration.

[0182] A pool cleaning robot, such as Figure 1-8 The diagram shows: a position adjustment unit 3, which includes:

[0183] The regulating unit 1 includes at least one cavity for storing water and gas;

[0184] Drive unit II, connected to adjustment unit 1, is configured as follows:

[0185] Under the action of drive unit II, water is transported to the cavity of adjustment unit 1 and stored in the cavity of adjustment unit 1. The weight of position adjustment unit 3 increases and the water pool cleaning robot dives down.

[0186] Under the action of drive unit II, the water in the cavity of adjustment unit 1 is discharged, the weight of position adjustment unit 3 is reduced, and the pool cleaning robot floats up.

[0187] When the pool cleaning robot needs to submerge, drive unit II activates to draw water from the outside into the cavity of adjustment unit 1. The cavity of adjustment unit 1 stores the water, increasing the weight of position adjustment unit 3, which in turn increases the weight of the pool cleaning robot, causing it to submerge automatically. When the pool cleaning robot needs to surface, drive unit II activates to draw water out of the cavity of adjustment unit 1 and discharge it to the outside, reducing the weight of position adjustment unit 3, which in turn reduces the weight of the pool cleaning robot, causing it to surface automatically.

[0188] Specifically, the aforementioned drive unit II is externally equipped with a sealing structure to protect it. This sealing structure includes a connected sealing chamber 21 and a sealing element. The sealing chamber 21 and the sealing element form a receiving space. Both the sealing chamber 21 and the sealing element are provided with water passage holes 22 so that the receiving space can communicate with the cavity of the adjustment unit 1 and the outside, respectively. The sealing chamber 21 is a box structure with internal space and an opening at one end. The sealing element is a sealing plate 20 (the sealing plate can be a plate-shaped structure or other structures). The sealing plate 20 is installed at the open end of the sealing chamber 21. The sealing chamber 21 and the sealing plate 20 are detachably connected. They can be connected by bolts or other connectors, or by plug-in connection, threaded connection, or other detachable connection methods, depending on actual needs. No specific requirements are specified here.

[0189] The sealing plate 20 is connected to the adjustment unit 1. The sealing chamber 21 and the adjustment unit 1 are located on both sides of the sealing plate 20. The adjustment unit 1 and the sealing plate 20 are detachably connected. They can be connected by bolts or other fasteners, or by plug-in, threaded connection, or other detachable connection methods, depending on the actual needs. No specific requirements are specified here.

[0190] The water passage hole 22 on the sealing plate 20 allows the sealing chamber 21 to be connected to the cavity of the regulating unit 1. External water can enter the cavity of the regulating unit 1 through the water passage hole 22 and be stored in the cavity of the regulating unit 1. Water in the regulating unit 1 can also be discharged through the water passage hole 22 on the sealing plate 20.

[0191] The water passage hole 22 on the sealed chamber 21 is designed to facilitate the discharge of water from the cavity of the regulating unit 1 through the water passage hole 22 on the sealing plate 20 and the water passage hole 22 on the sealed chamber 21, as well as the entry of external water into the cavity of the regulating unit 1 through the water passage hole 22 on the sealed chamber 21 and the water passage hole 22 on the sealing plate 20.

[0192] The aforementioned drive unit II includes a one-way water inlet system and a one-way drainage system. Both the one-way water inlet system and the one-way drainage system include at least one set of drive structures 23. Multiple sets of drive structures 23 are disposed within the accommodating space formed by the sealing chamber 21 and the sealing plate 20. The drive structures 23 are respectively connected to the water passage holes 22 on the sealing chamber 21 and the sealing plate 20, so that external water enters the cavity of the regulating unit 1 under the action of the drive structures 23, or water located in the cavity of the regulating unit 1 is discharged under the action of the drive structures 23. The drive structures 23 provide power for the flow of water. The drive structures 23 can be installed inside the sealing chamber 21 or on the sealing plate 20, depending on the actual needs. The sealing chamber 21 and the sealing plate 20 protect the multiple sets of drive structures 23, preventing them from contacting external water and causing damage.

[0193] The drive structure 23 connects the water passage holes 22 on the sealed chamber 21 and the sealing plate 20 to form a passage. External water enters the cavity of the adjustment unit 1 through the water passage holes 22 on the sealed chamber 21, the drive structure 23, and the sealing plate 20. The water in the cavity of the adjustment unit 1 is discharged to the outside through the water passage holes 22 on the sealing plate 20, the drive structure 23, and the sealing chamber 21. The weight of the position adjustment unit 3 is adjusted to realize the automatic floating and diving of the pool cleaning robot.

[0194] The drive structure 23 includes a drive assembly 230 and at least two transmission sections connected to the drive assembly 230. The multiple transmission sections are configured such that: one set of transmission sections is connected at one end to a water passage hole 22 on the sealing chamber 21, and the other set of transmission sections is connected at one end to a water passage hole 22 on the sealing plate 20. Under the action of the drive assembly 230, water flows along the transmission section and enters the cavity of the regulating unit 1 from the outside or is discharged from the cavity of the regulating unit 1.

[0195] In this embodiment, the aforementioned transmission unit is a water pipe 231.

[0196] In this embodiment, the drive component 230 can be a water pump, with the inlet and outlet (the inlet and outlet of the position adjustment unit 3) respectively connected to water pipes 231; or, the drive component 230 can also be a motor. In this case, an impeller is installed on the output shaft of the motor, a water tank is provided at the connection of the two sets of water pipes 231, the impeller is located in the water tank, the motor drives the impeller to rotate, draws water into the water tank, and discharges it from the water tank, thereby realizing the flow of water.

[0197] In some feasible embodiments, the drive structure 23 may be a set, which enables external water to enter the cavity of the regulating unit 1 and water in the cavity to be discharged to the outside through the forward and reverse drive of the drive component 230.

[0198] In this embodiment, preferably, there are two drive components 230, one for a one-way water inlet system and the other for a one-way drainage system. Each drive component 230 is connected to two water pipes 231, namely an inlet pipe and an outlet pipe. The sealing plate 20 has two water passage holes 22, and the sealing chamber 21 also has two water passage holes 22. The inlet pipe of one drive component 230 is connected to one water passage hole 22 on the sealing chamber 21, and the outlet pipe is connected to one water passage hole 22 on the sealing plate 20. This drive structure 23 is used to draw external water into the cavity of the regulating unit 1. Under the action of the drive components 230, external water flows through the sealing chamber 21... The water flows along the inlet pipe through the water passage 22 on the sealing plate 20, flows out from the outlet pipe, and enters the cavity of the regulating unit 1 through the water passage 22 on the sealing plate 20, where the cavity of the regulating unit 1 stores water. The inlet pipe of another drive assembly 230 is connected to the water passage 22 on the sealing plate 20, and the outlet pipe is connected to the water passage 22 on the sealing chamber 21. This set of drive structures 23 is used to discharge the water in the cavity of the regulating unit 1. The water in the cavity of the regulating unit 1 flows along the inlet pipe through the water passage 22 on the sealing plate 20, flows out from the outlet pipe, and is discharged to the outside through the water passage 22 on the sealing chamber 21. The two sets of drive structures 23 operate alternately to realize the water storage and drainage of the regulating unit 1.

[0199] In order to protect the drive unit II, the containment space formed by the sealing chamber 21 and the sealing plate 20 is a closed space. The connection between the sealing chamber 21 and the sealing plate 20 is provided with a sealing structure for sealing treatment. This sealing structure can be a sealing ring or a sealant.

[0200] To prevent water leakage at the connection between the water supply pipe 231 and the water passage hole 22 when water flows in the water supply pipe 231, the connection between the water supply pipe 231 and the water passage hole 22 is sealed. The connection between the water supply pipe 231 and the water passage hole 22 is provided with a sealing structure, which can be a sealing ring or a sealant.

[0201] The aforementioned regulating unit 1 includes a water storage tank 11, a partition disposed within the water storage tank 11, a safety valve 10 disposed on the water storage tank 11, and a safety valve cap 12 connected to the outer wall of the water storage tank 11. The water storage tank 11 is used to store water, and the safety valve 10 is used to release pressure. The water storage tank 11 has a box structure with at least one cavity inside for storing water and an opening at one end. A sealing plate 20 is installed at the opening end of the water storage tank 11. To prevent water leakage at the connection between the sealing plate 20 and the water storage tank 11, a sealing structure is provided at the connection between the water storage tank 11 and the sealing plate 20. This sealing structure can be a sealing ring or a sealant.

[0202] The partition plate 13 is fixedly installed inside the cavity of the water storage tank 11, dividing the internal space of the water storage tank 11 into two spaces. The space between the partition plate 13 and the sealing plate 20 is used to store water entering the water storage tank 11. The inner wall of the water storage tank 11 is provided with an inwardly extending first drain outlet 132. The partition plate 13 and the inner wall of the water storage tank 11 are fixedly connected by bolts and other connecting parts.

[0203] The safety valve 10 can be installed on the side wall of the water storage tank 11 opposite to the sealing plate 20, or it can be installed on the peripheral side wall, depending on the actual needs. The safety valve 10 is installed in the receiving groove formed by the recess of the shell wall of the water storage tank 11 into the cavity and extends into the interior of the water storage tank 11. The safety valve 10 is used to control the pressure inside the water storage tank 11. When the pressure inside the water storage tank 11 is too high, the safety valve 10 opens to drain and relieve pressure, preventing the external water from entering the water storage tank 11 due to excessive pressure, and also preventing the water storage tank 11 from deforming or being damaged due to excessive pressure.

[0204] A receiving groove is provided on the outer side wall of the top of the water storage tank 11, protruding (or recessed). A drainage channel 110 is provided at a corresponding position on the inner wall of the water storage tank 11. The drainage channel 110 is connected to the receiving groove. The safety valve 10 is installed in the receiving groove, and one end of the safety valve 10 extends into the drainage channel 110. A safety valve cap 12 is fastened to the free end of the receiving groove. The safety valve cap 12 is connected to the receiving groove by threads. The other end of the safety valve 10 passes through the through hole on the safety valve cap 12 and extends to the outside of the space formed by the safety valve cap 12 and the receiving groove. The safety valve is installed in the space formed by the safety valve cap 12 and the receiving groove.

[0205] In this embodiment, the safety valve 10 is a commercially available product, and the selection is based on actual needs. No specific requirements are made here. The connection between the safety valve and the drainage channel 110 of the water storage tank 11 is sealed to prevent water leakage.

[0206] A pool cleaning robot includes a main body, a control unit, and a position adjustment unit 3 as described above. The main body includes a housing, the position adjustment unit 3 is connected to the housing, the housing is connected to the control unit, the control unit is connected to the position adjustment unit 3, and the control unit is electrically connected to a drive assembly 230, controlling the movement of the drive assembly 230 and supplying power to the drive assembly 230 to maintain its continuous operation. The position adjustment unit 3 is detachably connected to the housing. The control unit includes a control board, which is housed in a sealed box, and the sealed box is mechanically connected to the housing.

[0207] When the pool cleaning robot needs cleaning or maintenance during operation, the water storage tank 11 contains water. The pool cleaning robot needs to float. The control unit controls one of the drive structures 23 to move, and the drive component 230 moves. The water in the water storage tank 11 enters the water inlet pipe of the drive component 230 through the water passage hole 22 on the sealing plate 20, flows along the water inlet pipe, and is discharged from the water outlet pipe through the water passage hole 22 on the sealing tank 21 to the outside. The weight of the position adjustment unit 3 is reduced, which reduces the weight of the entire pool cleaning robot. When the weight of the pool cleaning robot is less than the buoyancy force, the pool cleaning robot automatically floats.

[0208] After the pool cleaning robot has finished cleaning or maintenance, it needs to dive to the bottom of the pool to perform cleaning work. The control unit controls another set of drive structures 23 to move, and the drive component 230 moves. External water enters the water inlet pipe of the drive component 230 through the water passage hole 22 on the sealed chamber 21, flows along the water inlet pipe, and is discharged from the water outlet pipe through the water passage hole 22 on the sealing plate 20, and enters the water storage tank 11 for storage. The weight of the position adjustment unit 3 increases, which increases the weight of the entire pool cleaning robot. When the weight of the pool cleaning robot is greater than the buoyancy it receives, the pool cleaning robot automatically dives, realizing the automatic rising and falling of the pool cleaning robot.

[0209] A method for controlling a pool cleaning robot, comprising controlling the robot to float to the surface of a liquid or to submerge to the surface of a liquid, including:

[0210] Obtain data or instructions from the pool cleaning robot to determine whether the pool cleaning robot needs to surface or submerge.

[0211] Control the pool cleaning robot to float up or dive down; and / or

[0212] After surfacing, control the pool cleaning robot to move on the water surface.

[0213] Among these, surfacing or diving involves a pool cleaning robot moving back and forth between the liquid-submerged surface and the water surface.

[0214] This includes acquiring data or instructions from the pool cleaning robot and determining whether the robot needs to surface or submerge, which involves:

[0215] Acquire the status data of the pool cleaning robot; the status data is used to represent the status of the pool cleaning robot.

[0216] If the status data meets the preset conditions, determine whether the pool cleaning robot needs to surface or submerge; or

[0217] The robot was instructed to either surface or submerge.

[0218] The status data acquired from the pool cleaning robot includes at least one of the following:

[0219] During the process of the pool cleaning robot moving or stationary, at least one of the power parameters of the pool cleaning robot is acquired;

[0220] During the process of the pool cleaning robot moving or stationary, at least one of the operating parameters of the pool cleaning robot is acquired;

[0221] During the process of the pool cleaning robot moving or remaining stationary, at least one of the time parameters of the pool cleaning robot is acquired;

[0222] During the process of the pool cleaning robot moving or stationary, at least one of the cleaning parameters of the pool cleaning robot is acquired;

[0223] During the process of the pool cleaning robot moving or stationary, at least one of the warning parameters of the pool cleaning robot is obtained.

[0224] Among them, when the status data meets the preset conditions, determining whether the pool cleaning robot needs to surface or submerge includes any of the following:

[0225] If the battery parameters of the pool cleaning robot exceed the threshold range, it is determined whether the pool cleaning robot needs to float up or submerge.

[0226] If the operating parameters of the pool cleaning robot exceed the threshold range, it is determined whether the pool cleaning robot needs to float or submerge.

[0227] If the time parameters of the pool cleaning robot exceed the time parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down.

[0228] If the cleaning parameters of the pool cleaning robot exceed the threshold range, it is determined whether the pool cleaning robot needs to float up or submerge.

[0229] If the warning parameters of the pool cleaning robot exceed the warning parameter threshold range, it is determined that the pool cleaning robot needs to float up or submerge.

[0230] The cleaning parameters mentioned above include at least one of the following: number of cleaning cycles, cleaning area, and cleaning time.

[0231] Controlling the pool cleaning robot to rise or fall includes:

[0232] Control the weight of the pool cleaning robot to reduce or increase its weight.

[0233] The aforementioned control of the weight of the pool cleaning robot includes controlling the weight of the position adjustment unit 3 of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. Under the action of the position adjustment unit 3, the pool cleaning robot floats from the liquid immersion surface to the water surface or dives from the water surface to the liquid immersion surface.

[0234] The process of controlling the pool cleaning robot to move on the water surface after it floats to the surface includes: the control unit issuing a command, the drive unit I acting, and driving the pool cleaning robot to move on the water surface.

[0235] Specifically, regarding the surfacing or submerging of the aforementioned pool cleaning robot, the control method for the pool cleaning robot can be divided into two stages:

[0236] Phase 1: Data / Command Acquisition Phase. Specifically, when the pool cleaning robot receives an ascending or descending command, the control unit issues a command, triggering the drive unit II of the position adjustment unit 3 to inject liquid into the cavity or discharge liquid from the cavity to the outside, causing the pool cleaning robot to ascend or descend. The ascending or descending command can include remote control, such as via a mobile app or a remote control handle; if the user wants the machine to ascend or descend, they can issue a command to the pool cleaning robot remotely to achieve this.

[0237] The above-mentioned stage may also include the control unit acquiring data from the pool cleaning robot and determining whether the pool cleaning robot needs to surface or submerge based on the acquired data, specifically as follows:

[0238] When the pool cleaning robot has no power, insufficient power, or needs to be recharged, if the parameter indicating the pool cleaning robot's power level transmitted to the control unit exceeds the threshold range, it is determined that the pool cleaning robot needs to float up or submerge.

[0239] When the pool cleaning robot encounters a problem, such as getting stuck, or needs to change its operating mode, if the operation-related parameters transmitted to the control unit exceed the threshold range, it is determined that the pool cleaning robot needs to float up or submerge.

[0240] When the time transmitted to the control unit for the pool cleaning robot exceeds the threshold range, it is determined that the pool cleaning robot needs to float up or submerge.

[0241] When the pool cleaning robot issues an early warning or the early warning parameters transmitted to the control unit exceed the threshold range, it is determined that the pool cleaning robot needs to surface or submerge.

[0242] The second stage: controlling the pool cleaning robot to float or submerge. Specifically: controlling the weight of the pool cleaning robot includes controlling the weight of the position adjustment unit 3 of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. The position adjustment unit 3 is used to drive the pool cleaning robot to float from the liquid immersion surface to the water surface or to submerge from the water surface to the liquid immersion surface.

[0243] As the above technical solution is adopted, the position adjustment unit has an adjustment unit with at least one cavity. Through the action of the drive unit II, the volume change of the gas in the cavity is adjusted, thereby adjusting the gravity of the position adjustment unit to achieve automatic buoyancy and descent.

[0244] The regulating unit has a water storage tank with at least one cavity for storing water. A safety valve is installed on the water storage tank to control the pressure inside the tank, preventing excessive pressure from causing deformation or damage to the tank, and ensuring that water can enter the tank.

[0245] Drive unit II has multiple drive structures, as well as a sealed chamber and a sealing plate. The sealed chamber and the sealing plate form a sealed receiving space. Multiple drive structures are set in the sealed receiving space. The sealed chamber and the sealing plate protect the drive structures and prevent them from being damaged by contact with water.

[0246] Featuring multiple drive structures that operate alternately, this device can draw water from the outside into the water storage tank and discharge water from the tank to the outside. Each drive structure includes drive components and water inlet and outlet pipes, which connect to water passage holes on the sealed chamber and sealing plate, respectively. The drive components actuate to allow external water to flow along the inlet and outlet pipes into the water storage tank, or to allow water from the storage tank to flow along the same pipes and discharge to the outside. Adjusting the weight of the position adjustment unit regulates the weight of the water tank cleaning robot. Based on the relationship between the robot's weight and buoyancy, the robot automatically rises and falls, surfacing when cleaning or maintenance is needed. This eliminates the need for manual searching and removal of the robot, reducing labor costs, increasing efficiency, and enhancing automation.

[0247] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A pool cleaning robot, characterized in that, The pool cleaning robot includes a main body, a position adjustment unit, and a drive unit I; The position adjustment unit and the drive unit I are disposed on the main body or connected to the main body; The position adjustment unit is configured to enable the pool cleaning robot to move back and forth between the water surface and the liquid-submerged surface. When the pool cleaning robot floats to the surface of the water under the action of the position adjustment unit, the drive unit I is set to drive the pool cleaning robot to move on the water surface. The main body includes a shell I, and the travel direction of the pool cleaning robot is the front end of the shell I. The position adjustment unit is located in the middle or rear end of the shell I. The position adjustment unit includes a drive unit II, which includes a one-way water inlet system and a one-way drainage system. When the one-way water inlet system is activated, liquid enters the interior of the position adjustment unit, increasing the weight of the pool cleaning robot. When the one-way drainage system is activated, liquid is discharged from the interior of the position adjustment unit, reducing the weight of the pool cleaning robot. The position adjustment unit includes an adjustment unit, which includes at least one cavity, the cavity including a housing II and a cavity formed by the housing II; Under the action of drive unit II, the volume of space occupied by gas and / or liquid in the cavity changes, causing the pool cleaning robot to move back and forth between the water surface and the liquid-submerged surface. Under the action of drive unit II, the cavity volume remains unchanged; Under the action of the drive unit II, when the gas volume in the cavity increases or the liquid volume decreases, the gas pressure in the cavity changes.

2. The pool cleaning robot according to claim 1, characterized in that, The one-way water inlet system and the one-way drainage system are independently selected from any of the following: (1) Pump and check valve installed on the pump's inlet / outlet pipe; (2) One-way pump.

3. The pool cleaning robot according to claim 1, characterized in that, The drive unit I includes a power unit and a drive unit; the power unit provides power to the drive unit, and the drive unit generates a driving force on the pool cleaning robot, causing the pool cleaning robot to move on the water surface.

4. The pool cleaning robot according to claim 3, characterized in that, The power unit includes a motor, a connecting part, and a water-dispensing part; the motor transmits power to the water-dispensing part through the connecting part.

5. The pool cleaning robot according to claim 4, characterized in that, The water-dispelling unit includes a roller brush and / or a track; under the action of the power unit, the roller brush and / or track move on the water surface or in the water, and the protrusions on the roller brush and / or track move on the water surface or in the water to generate a thrust on the pool cleaning robot.

6. The pool cleaning robot according to claim 5, characterized in that, The roller brush is provided with a roller brush wheel that directly or indirectly meshes with the drive wheel; The tracks move on the water surface under the drive of the water pool cleaning robot's wheels, generating a thrust on the water pool cleaning robot. The wheels are directly or indirectly engaged with the drive wheels.

7. The pool cleaning robot according to claim 3, characterized in that, The power unit includes a motor and an impeller connected to the motor, and the drive unit includes a drain outlet; the motor drives the impeller to move, and water flows out through the drain outlet.

8. The pool cleaning robot according to claim 7, characterized in that, The horizontal component of the drainage direction of the drain outlet generates a thrust on the pool cleaning robot, causing the pool cleaning robot to move on the water surface; wherein, the horizontal direction is the direction within the plane containing the water surface.

9. The pool cleaning robot according to claim 1 or 7, characterized in that, The drive unit I includes the motor, impeller, and drain outlet of the pumping system of the pool cleaning robot when cleaning the bottom of the pool.

10. The pool cleaning robot according to claim 1, characterized in that, The main body includes a control unit connected to the housing I; The position adjustment unit is connected to the housing I and electrically connected to the control unit; The drive unit I is electrically connected to the control unit.

11. The pool cleaning robot according to claim 10, characterized in that, The housing I includes an upper housing part and a lower housing part. The lower housing part is provided with a water inlet, and the side opposite to the lower housing part is the upper housing part. When the pool cleaning robot floats on the water surface, at least a part of the upper housing part is exposed above the water surface. The water inlet is the water inlet of the pool cleaning robot.

12. The pool cleaning robot according to claim 1, characterized in that, The front end of the housing I includes the end that first approaches the water surface when the pool cleaning robot climbs the wall to clean.

13. The pool cleaning robot according to claim 1, characterized in that, The pool cleaning robot's movement between the water surface and the liquid-submerged surface includes the pool cleaning robot surfacing from the liquid-submerged surface to the water surface and / or the pool cleaning robot submerging from the water surface to the liquid-submerged surface.

14. The pool cleaning robot according to claim 13, characterized in that, The statement that the pool cleaning robot floats from a liquid-submerged surface to the water surface includes the statement that the pool cleaning robot floats from a liquid-submerged surface to the water surface and remains on the water surface.

15. The pool cleaning robot according to claim 1, characterized in that, The change in the volume of gas and / or liquid in the cavity under the action of drive unit II includes: Under the action of the drive unit II, liquid is injected into the cavity, the volume occupied by gas decreases, the weight of the position adjustment unit increases, and the pool cleaning robot dives to the liquid-submerged surface. And / or, the liquid is discharged from the cavity, the volume occupied by the gas increases, the weight of the position adjustment unit decreases, and the pool cleaning robot floats to the surface of the water.

16. The pool cleaning robot according to claim 1, characterized in that, The control unit controls the start and stop of the drive unit II.

17. The pool cleaning robot according to claim 1, characterized in that, Both the one-way water inlet system and the one-way drainage system include at least one drive component and at least two transmission units; At least one of the transmission units connects the drive assembly and the cavity; At least one transmission unit connects the drive component to the outside.

18. The pool cleaning robot according to claim 17, characterized in that, The "external" refers to the location of the external liquid, and the "transmission unit" includes a channel.

19. The pool cleaning robot according to any one of claims 1 to 18, characterized in that, The drive unit II is disposed within a sealed chamber, and the sealed chamber and the adjustment unit are sealed together by a sealing element; or The drive unit II is housed inside a sealed box and connected to the cavity of the adjustment unit via a pipe. The pipe connection is provided with a sealing structure.

20. The pool cleaning robot according to claim 19, characterized in that, The sealing element includes a sealing plate.

21. The pool cleaning robot according to claim 19, characterized in that, The sealing chamber and the sealing element constitute a receiving space. Both the sealing chamber and the sealing element are provided with water passage holes so that the receiving space can communicate with the cavity and the outside, respectively. The drive unit II is located within the accommodating space. The drive unit II is connected to the water passage hole on the sealing chamber and the water passage hole on the sealing element, so that external liquid enters the cavity under the action of the drive unit II or water in the cavity is discharged under the action of the drive unit II.

22. The pool cleaning robot according to claim 21, characterized in that: The connection between the sealing chamber and the sealing element is provided with a sealing structure; The connection between the drive unit II and the water passage hole is provided with a sealing structure; The connection between the adjustment unit and the sealing element is provided with a sealing structure.

23. The pool cleaning robot according to claim 1, characterized in that, The cavity is provided with a one-way valve or opening for draining and / or venting, which limits the amount of liquid added to the cavity during position adjustment.

24. The pool cleaning robot according to claim 23, characterized in that, The one-way valve or opening is positioned below the upper surface of the cavity. When the valve is submerged in liquid, the continuously injected liquid will be discharged from the one-way valve or opening, while gas is sealed between the liquid surface and the upper surface of the cavity. When liquid is injected, the side corresponding to the direction of liquid level rise is the upper surface of the cavity.

25. The pool cleaning robot according to claim 1, characterized in that, The housing II is equipped with a safety valve.

26. The pool cleaning robot according to claim 25, characterized in that, The cavity is provided with a one-way valve or opening for draining and / or venting liquid, which limits the amount of liquid added to the cavity during position adjustment. The one-way valve or opening is connected to the installation space of the safety valve so that the safety valve can release pressure. The safety valve is located above the check valve or the opening.

27. The pool cleaning robot according to claim 25, characterized in that, The housing II extends into the cavity and is provided with a receiving groove. The receiving groove communicates with the cavity. A safety valve cap is connected to the receiving groove. The safety valve is located in the space formed by the receiving groove and the safety valve cap.

28. The pool cleaning robot according to claim 1, characterized in that, The cavity is provided with a partition plate, and the cavity is divided into at least two interconnected cavities.

29. The pool cleaning robot according to claim 28, characterized in that, The cavity is provided with a partition plate, which divides the cavity into two connected cavities; When the volume of the cavity occupied by the gas decreases to the required value, the gas-liquid interface is located near the partition plate.

30. The pool cleaning robot according to claim 28, characterized in that, The partition plate is fixedly and detachably connected to the shell of the cavity.

31. The pool cleaning robot according to claim 28, characterized in that, The partition plate has through holes, and the separated cavities are connected through the through holes.

32. The pool cleaning robot according to claim 28, characterized in that, The partition plate has a partition portion on at least one side, which divides the cavity on the corresponding side into at least two communicating chambers, and the chambers contain the same medium.

33. The pool cleaning robot according to claim 32, characterized in that, The partition is located on the side closest to the gas medium.

34. The pool cleaning robot according to claim 28, characterized in that, The partition plate has multiple grilles extending from at least one side toward the cavity.

35. The pool cleaning robot according to claim 28, characterized in that, The cavity is provided with a one-way valve or opening for draining and / or venting, which limits the amount of liquid added during buoyancy adjustment.

36. The pool cleaning robot according to claim 35, characterized in that, The partition plate is provided with mounting holes, which are used to install one-way valves or openings provided in the cavity.

37. The pool cleaning robot according to claim 1, characterized in that, The pool cleaning robot also includes a signal transmission unit; The signal transmission unit is disposed on the main body or connected to the main body; When the pool cleaning robot floats to the surface of the water under the action of the position adjustment unit, the signal transmission unit is set to interact with the control console.

38. The pool cleaning robot according to claim 37, characterized in that, When the pool cleaning robot floats to the surface, the signal transmission unit is located near the water surface.

39. The pool cleaning robot according to claim 38, characterized in that, When the pool cleaning robot floats to the surface of the water, the signal transmission unit is located above or below the water surface.

40. The pool cleaning robot according to claim 37, characterized in that, The signal transmission unit interacts with the console via at least one of wireless signal interaction, audio signal interaction, and optical signal interaction.

41. The pool cleaning robot according to claim 37, characterized in that, The signal transmission unit includes at least one of a wireless transceiver, an audio transceiver, and an optical transceiver.

42. The pool cleaning robot according to claim 37, characterized in that, The console includes at least one of a mobile app, a remote control, and a relay station.

43. A control method for a pool cleaning robot according to any one of claims 1 to 42, characterized in that, Controlling the pool cleaning robot to float from a liquid-submerged surface to the liquid surface or to submerge from the water surface to the liquid-submerged surface includes: Obtain data or instructions from the pool cleaning robot to determine whether the pool cleaning robot needs to surface or submerge. Control the pool cleaning robot to float up or dive down; and / or After surfacing, control the pool cleaning robot to move on the water surface.

44. The control method for the pool cleaning robot according to claim 43, characterized in that, The surfacing or diving refers to the pool cleaning robot moving back and forth between the liquid-submerged surface and the water surface.

45. The control method for the pool cleaning robot according to claim 43, characterized in that, Obtaining data or instructions from the pool cleaning robot and determining whether the pool cleaning robot needs to surface or submerge includes: Acquire the status data of the pool cleaning robot, the status data being used to represent the status of the pool cleaning robot; If the status data meets preset conditions, it is determined whether the pool cleaning robot needs to surface or submerge; or The robot was instructed to either surface or submerge.

46. ​​The control method for the pool cleaning robot according to claim 45, characterized in that, Obtaining the status data of the pool cleaning robot includes at least one of the following: During the process of the pool cleaning robot moving or remaining stationary, at least one of the power parameters of the pool cleaning robot is acquired; During the process of the water tank cleaning robot moving or remaining stationary, at least one of the operating parameters of the water tank cleaning robot is acquired; During the process of the water tank cleaning robot moving or remaining stationary, at least one of the time parameters of the water tank cleaning robot is acquired; During the process of the pool cleaning robot moving or remaining stationary, at least one of the cleaning parameters of the pool cleaning robot is acquired; During the process of the pool cleaning robot moving or remaining stationary, at least one of the warning parameters of the pool cleaning robot is acquired.

47. The control method for the pool cleaning robot according to claim 45, characterized in that, When the status data meets preset conditions, determining whether the pool cleaning robot needs to surface or submerge includes any of the following: If the power parameters of the pool cleaning robot exceed the power parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down. If the operating parameters of the pool cleaning robot exceed the threshold range, it is determined that the pool cleaning robot needs to float up or dive down. If the time parameter of the pool cleaning robot exceeds the time parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down. If the cleaning parameters of the pool cleaning robot exceed the cleaning parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down. If the warning parameters of the pool cleaning robot exceed the warning parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down.

48. The control method for the pool cleaning robot according to claim 46, characterized in that, The cleaning parameters include at least one of the following: number of cleaning cycles, cleaning area, and cleaning time.

49. The control method for the pool cleaning robot according to claim 43, characterized in that, The control of the pool cleaning robot to float or submerge includes: The weight of the pool cleaning robot can be controlled to reduce or increase its weight.

50. The control method for the pool cleaning robot according to claim 49, characterized in that, Controlling the weight of the pool cleaning robot includes controlling the weight of the position adjustment unit of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. Under the action of the position adjustment unit, the pool cleaning robot floats from the liquid immersion surface to the water surface or dives from the water surface to the liquid immersion surface.

51. The control method for the pool cleaning robot according to claim 43, characterized in that, The step of controlling the water cleaning robot to move on the water surface after it floats includes: the control unit issuing a command to drive unit I to move the water cleaning robot on the water surface.

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